基于综合性能指标的串联变胞机器人冲击性能优化

doi:10.3901/JME.2021.23.066

机械工程学报 ›› 2021, Vol. 57 ›› Issue (23): 66-76.doi: 10.3901/JME.2021.23.066

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基于综合性能指标的串联变胞机器人冲击性能优化

宋艳艳^1,2, 金国光^1,2, 畅博彦^1,2, 魏展^1,2, 李博^1,2

1. 天津工业大学机械工程学院天津 300387;
2. 天津市现代机电装备技术重点实验室天津 300387

收稿日期:2020-12-10 修回日期:2021-04-06 出版日期:2021-12-05 发布日期:2022-02-28
通讯作者: 金国光(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为机械设计及理论、机器人机构学、机械系统动力学与控制。E-mail:jinguoguang@tiangong.edu.cn
作者简介:宋艳艳,女,1993年出生,博士研究生。主要研究方向为变胞机构结构学、运动学和动力学。E-mail:yan_yan_song@126.com
基金资助:
国家自然科学基金（51475330，52005368）、天津市教委科研计划项目（2018KJ205）和天津市高等学校创新团队培养计划（TD13-5037）资助项目。

Impact Performance Optimization of Serial Metamorphic Robot Based on Comprehensive Performance Index

SONG Yanyan^1,2, JIN Guoguang^1,2, CHANG Boyan^1,2, WEI Zhan^1,2, LI Bo^1,2

1. School of Mechanical Engineering, Tiangong University, Tianjin 300387;
2. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tianjin 300387

Received:2020-12-10 Revised:2021-04-06 Online:2021-12-05 Published:2022-02-28

摘要/Abstract

摘要： 研究串联变胞机器人的构态切换平稳性问题具有重要理论意义和实用价值。基于Newton-Euler方程建立串联变胞机器人的冲击动力学模型，并结合经典碰撞理论和恢复系数方程，推导出机器人构态切换时的冲量求解模型。在此基础上，针对机器人的构态切换平稳性问题，从构态切换前的速度性能、构态切换时的冲击性能和构态切换时的动力学性能3个方面对机器人的冲击运动性能进行分析，并建立了相应的性能指标。通过分析影响性能指标的机器人参数，对上述冲击运动性能指标进行分类，并基于权重系数法，构建面向综合评价指标的参数优化设计模型。以平面3自由度变胞机器人为例，仿真分析机器人参数对冲击运动性能的影响，并对其进行优化设计。研究结果表明：通过改变杆件长度和初始构型可有效减小机器人构态切换时所产生的冲量，改善了机器人的冲击运动性能，有利于提升系统运行的稳定性和安全性。

关键词: 串联变胞机器人, 构态切换, 冲击运动, 性能指标, 参数优化

Abstract: It has important theoretical significance and practical value to study the stability of serial metamorphic robot in the process of configuration transformation. The impact dynamics model of the serial metamorphic robot was established based on Newton-Euler equation, and the impulse solving model of the serial metamorphic robot was derived from classical collision theory and recovery coefficient equation. Aiming at the stability of configuration transformation, the impact motion performance of the robot was analyzed from three aspects including the speed performance before configuration transformation, the impact performance during configuration transformation and the dynamic performance during configuration transformation, and the corresponding performance indexes were established. By analyzing the robot parameters that affect the performance index, the impact motion performance indexes were classified. And, the parameter optimization design model for comprehensive evaluation index was constructed based on the weight coefficient method. Taking the planar 3-DOF metamorphic robot as an example, the influence of robot parameters on impact motion performance was simulated and optimized. The results show that impact motion performance of the robot can be improved by changing the length and the initial configuration of the rod, which is helpful to improve the stability and safety of the system.

Key words: serial metamorphic robot, configuration transformation, impact motion, performance index, parameter optimization

中图分类号:

TH12

宋艳艳, 金国光, 畅博彦, 魏展, 李博. 基于综合性能指标的串联变胞机器人冲击性能优化[J]. 机械工程学报, 2021, 57(23): 66-76.

SONG Yanyan, JIN Guoguang, CHANG Boyan, WEI Zhan, LI Bo. Impact Performance Optimization of Serial Metamorphic Robot Based on Comprehensive Performance Index[J]. Journal of Mechanical Engineering, 2021, 57(23): 66-76.

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基于综合性能指标的串联变胞机器人冲击性能优化

Impact Performance Optimization of Serial Metamorphic Robot Based on Comprehensive Performance Index

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